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<div class="title">ORBextractor.h</div>  </div>
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<a href="_o_r_bextractor_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;</div><div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="preprocessor">#ifndef ORBEXTRACTOR_H</span></div><div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="preprocessor">#define ORBEXTRACTOR_H</span></div><div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;</div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="preprocessor">#include &lt;vector&gt;</span></div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="preprocessor">#include &lt;list&gt;</span></div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;<span class="comment">//#include &lt;opencv/cv.h&gt;</span></div><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="preprocessor">#include &lt;opencv2/core/core.hpp&gt;</span>    <span class="comment">// Cambiado por prolijidad, sólo se usa para definir Mat, Point, Point2i y KeyPoint</span></div><div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;</div><div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;</div><div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespace_o_r_b___s_l_a_m2.html">ORB_SLAM2</a></div><div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;{</div><div class="line"><a name="l00036"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_extractor_node.html">   36</a></span>&#160;<span class="keyword">class </span><a class="code" href="class_o_r_b___s_l_a_m2_1_1_extractor_node.html">ExtractorNode</a></div><div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;{</div><div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="keyword">public</span>:</div><div class="line"><a name="l00039"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_extractor_node.html#af1920a7d5f8166debdd4a7fe4a15a8e9">   39</a></span>&#160;    <a class="code" href="class_o_r_b___s_l_a_m2_1_1_extractor_node.html#af1920a7d5f8166debdd4a7fe4a15a8e9">ExtractorNode</a>():<a class="code" href="class_o_r_b___s_l_a_m2_1_1_extractor_node.html#ada60a6ca3a5874204dcb3245ac7d2d97">bNoMore</a>(false){}</div><div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;</div><div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;    <span class="keywordtype">void</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_extractor_node.html#ad560af26a7bab99551eab2e5c08f6535">DivideNode</a>(<a class="code" href="class_o_r_b___s_l_a_m2_1_1_extractor_node.html">ExtractorNode</a> &amp;n1, <a class="code" href="class_o_r_b___s_l_a_m2_1_1_extractor_node.html">ExtractorNode</a> &amp;n2, <a class="code" href="class_o_r_b___s_l_a_m2_1_1_extractor_node.html">ExtractorNode</a> &amp;n3, <a class="code" href="class_o_r_b___s_l_a_m2_1_1_extractor_node.html">ExtractorNode</a> &amp;n4);</div><div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;</div><div class="line"><a name="l00046"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_extractor_node.html#a34dda34415caa0e996148e53f8b174ce">   46</a></span>&#160;    std::vector&lt;cv::KeyPoint&gt; <a class="code" href="class_o_r_b___s_l_a_m2_1_1_extractor_node.html#a34dda34415caa0e996148e53f8b174ce">vKeys</a>;</div><div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;</div><div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;</div><div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;</div><div class="line"><a name="l00056"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_extractor_node.html#a73ec9b10c8a3f98ed70a117086bae12a">   56</a></span>&#160;    cv::Point2i <a class="code" href="class_o_r_b___s_l_a_m2_1_1_extractor_node.html#a3f3ae5685a8a2b2cd42fbd08e7563c3d">UL</a>, <a class="code" href="class_o_r_b___s_l_a_m2_1_1_extractor_node.html#a73ec9b10c8a3f98ed70a117086bae12a">UR</a>, <a class="code" href="class_o_r_b___s_l_a_m2_1_1_extractor_node.html#ab31adc0d00b85307ba98b2ff434c30fc">BL</a>, <a class="code" href="class_o_r_b___s_l_a_m2_1_1_extractor_node.html#a8530a1f5934122f24382859c156a441d">BR</a>;</div><div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;</div><div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;</div><div class="line"><a name="l00063"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_extractor_node.html#a5301b76ea0e33bb066a46776810d742c">   63</a></span>&#160;    std::list&lt;ExtractorNode&gt;::iterator <a class="code" href="class_o_r_b___s_l_a_m2_1_1_extractor_node.html#a5301b76ea0e33bb066a46776810d742c">lit</a>;</div><div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;</div><div class="line"><a name="l00069"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_extractor_node.html#ada60a6ca3a5874204dcb3245ac7d2d97">   69</a></span>&#160;    <span class="keywordtype">bool</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_extractor_node.html#ada60a6ca3a5874204dcb3245ac7d2d97">bNoMore</a>;</div><div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;};</div><div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;</div><div class="line"><a name="l00085"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_o_r_bextractor.html">   85</a></span>&#160;<span class="keyword">class </span><a class="code" href="class_o_r_b___s_l_a_m2_1_1_o_r_bextractor.html">ORBextractor</a></div><div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;{</div><div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;<span class="keyword">public</span>:</div><div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;    </div><div class="line"><a name="l00089"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_o_r_bextractor.html#a5f326a8b3ba190c121dcdeea1d287f69a0f496d253d29ce9b88ab80575b311b56">   89</a></span>&#160;    <span class="keyword">enum</span> {HARRIS_SCORE=0, FAST_SCORE=1 };</div><div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;</div><div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;    <a class="code" href="class_o_r_b___s_l_a_m2_1_1_o_r_bextractor.html">ORBextractor</a>(<span class="keywordtype">int</span> nfeatures, <span class="keywordtype">float</span> scaleFactor, <span class="keywordtype">int</span> nlevels,</div><div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;                 <span class="keywordtype">int</span> iniThFAST, <span class="keywordtype">int</span> minThFAST);</div><div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;</div><div class="line"><a name="l00097"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_o_r_bextractor.html#ab0e5801da8f6dee0261aef5cf19e73b3">   97</a></span>&#160;    <a class="code" href="class_o_r_b___s_l_a_m2_1_1_o_r_bextractor.html#ab0e5801da8f6dee0261aef5cf19e73b3">~ORBextractor</a>(){}</div><div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;</div><div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;    <span class="comment">// Compute the ORB features and descriptors on an image.</span></div><div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;    <span class="comment">// ORB are dispersed on the image using an octree.</span></div><div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;    <span class="comment">// Mask is ignored in the current implementation.</span></div><div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;    <span class="keywordtype">void</span> operator()( cv::InputArray image, cv::InputArray mask,</div><div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;      std::vector&lt;cv::KeyPoint&gt;&amp; keypoints,</div><div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;      cv::OutputArray descriptors);</div><div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;</div><div class="line"><a name="l00120"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_o_r_bextractor.html#abaad86a9c65eed8a2f8af9604b1a53ee">  120</a></span>&#160;    <span class="keywordtype">int</span> <span class="keyword">inline</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_o_r_bextractor.html#abaad86a9c65eed8a2f8af9604b1a53ee">GetLevels</a>(){</div><div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;        <span class="keywordflow">return</span> nlevels;}</div><div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;</div><div class="line"><a name="l00126"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_o_r_bextractor.html#a3352294ae4ae250a406140d2ae6f7286">  126</a></span>&#160; 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   }</div><div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;</div><div class="line"><a name="l00139"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_o_r_bextractor.html#aa56b36e338372ec7cba3945c9194da4a">  139</a></span>&#160;    std::vector&lt;float&gt; <span class="keyword">inline</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_o_r_bextractor.html#aa56b36e338372ec7cba3945c9194da4a">GetInverseScaleFactors</a>(){</div><div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;        <span class="keywordflow">return</span> mvInvScaleFactor;</div><div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;    }</div><div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;</div><div class="line"><a name="l00146"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_o_r_bextractor.html#a8f574b3b1314c5aa645135cb2f3dca3c">  146</a></span>&#160;    std::vector&lt;float&gt; <span class="keyword">inline</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_o_r_bextractor.html#a8f574b3b1314c5aa645135cb2f3dca3c">GetScaleSigmaSquares</a>(){</div><div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;        <span class="keywordflow">return</span> mvLevelSigma2;</div><div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;    }</div><div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;</div><div class="line"><a name="l00153"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_o_r_bextractor.html#a1ddabdd67709d7df17000cc2966c47c7">  153</a></span>&#160;    std::vector&lt;float&gt; <span class="keyword">inline</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_o_r_bextractor.html#a1ddabdd67709d7df17000cc2966c47c7">GetInverseScaleSigmaSquares</a>(){</div><div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;        <span class="keywordflow">return</span> mvInvLevelSigma2;</div><div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;    }</div><div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;</div><div class="line"><a name="l00161"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_o_r_bextractor.html#a57f88e0959582dde9ae5bdee1fe3de65">  161</a></span>&#160;    std::vector&lt;cv::Mat&gt; <a class="code" href="class_o_r_b___s_l_a_m2_1_1_o_r_bextractor.html#a57f88e0959582dde9ae5bdee1fe3de65">mvImagePyramid</a>;</div><div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;</div><div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;<span class="keyword">protected</span>:</div><div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;</div><div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;    <span class="keywordtype">void</span> ComputePyramid(cv::Mat image);</div><div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;</div><div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160; 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   <span class="keywordtype">double</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_o_r_bextractor.html#a13b9c3883b3fb19cb756f841cb948908">scaleFactor</a>;</div><div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;</div><div class="line"><a name="l00236"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_o_r_bextractor.html#aaf5c435dfb3fb2220c3847cd5f536e2f">  236</a></span>&#160;    <span class="keywordtype">int</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_o_r_bextractor.html#aaf5c435dfb3fb2220c3847cd5f536e2f">nlevels</a>;</div><div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;</div><div class="line"><a name="l00242"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_o_r_bextractor.html#a8997b404b50b563ffd2aea6b8130dd2a">  242</a></span>&#160;    <span class="keywordtype">int</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_o_r_bextractor.html#a8997b404b50b563ffd2aea6b8130dd2a">iniThFAST</a>;</div><div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160;</div><div class="line"><a name="l00248"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_o_r_bextractor.html#a72fcac0df56c0bfe430475082df56823">  248</a></span>&#160;    <span class="keywordtype">int</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_o_r_bextractor.html#a72fcac0df56c0bfe430475082df56823">minThFAST</a>;</div><div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160;</div><div class="line"><a name="l00255"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_o_r_bextractor.html#a2eef0343b411bff8681782115a279e2a">  255</a></span>&#160;    std::vector&lt;int&gt; <a class="code" href="class_o_r_b___s_l_a_m2_1_1_o_r_bextractor.html#a2eef0343b411bff8681782115a279e2a">mnFeaturesPerLevel</a>;</div><div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160;</div><div class="line"><a name="l00263"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_o_r_bextractor.html#a8c75fd715b20fbaf61fce11e03729901">  263</a></span>&#160;    std::vector&lt;int&gt; <a class="code" href="class_o_r_b___s_l_a_m2_1_1_o_r_bextractor.html#a8c75fd715b20fbaf61fce11e03729901">umax</a>;</div><div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160;</div><div class="line"><a name="l00269"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_o_r_bextractor.html#a9432037b97eccc06715383d8c34965e9">  269</a></span>&#160;    std::vector&lt;float&gt; <a class="code" href="class_o_r_b___s_l_a_m2_1_1_o_r_bextractor.html#a9432037b97eccc06715383d8c34965e9">mvScaleFactor</a>;</div><div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160;</div><div class="line"><a name="l00275"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_o_r_bextractor.html#a7eeb10aded635b28fc49422348dc72d0">  275</a></span>&#160;    std::vector&lt;float&gt; <a class="code" href="class_o_r_b___s_l_a_m2_1_1_o_r_bextractor.html#a7eeb10aded635b28fc49422348dc72d0">mvInvScaleFactor</a>;</div><div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160;</div><div class="line"><a name="l00280"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_o_r_bextractor.html#a2f9c99c509a4d1408013e91f452ef953">  280</a></span>&#160;    std::vector&lt;float&gt; <a class="code" href="class_o_r_b___s_l_a_m2_1_1_o_r_bextractor.html#a2f9c99c509a4d1408013e91f452ef953">mvLevelSigma2</a>;</div><div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160;</div><div class="line"><a name="l00285"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_o_r_bextractor.html#af99de18a5fa2679ff1199f42b9090bf2">  285</a></span>&#160;    std::vector&lt;float&gt; <a class="code" href="class_o_r_b___s_l_a_m2_1_1_o_r_bextractor.html#af99de18a5fa2679ff1199f42b9090bf2">mvInvLevelSigma2</a>;</div><div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160;};</div><div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160;</div><div class="line"><a name="l00288"></a><span class="lineno">  288</span>&#160;} <span class="comment">//namespace ORB_SLAM</span></div><div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160;</div><div class="line"><a name="l00290"></a><span class="lineno">  290</span>&#160;<span class="preprocessor">#endif</span></div><div class="line"><a name="l00291"></a><span class="lineno">  291</span>&#160;</div><div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_extractor_node_html_a8530a1f5934122f24382859c156a441d"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_extractor_node.html#a8530a1f5934122f24382859c156a441d">ORB_SLAM2::ExtractorNode::BR</a></div><div class="ttdeci">cv::Point2i BR</div><div class="ttdef"><b>Definition:</b> ORBextractor.h:56</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_extractor_node_html_ada60a6ca3a5874204dcb3245ac7d2d97"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_extractor_node.html#ada60a6ca3a5874204dcb3245ac7d2d97">ORB_SLAM2::ExtractorNode::bNoMore</a></div><div class="ttdeci">bool bNoMore</div><div class="ttdoc">Señal que indica que el nodo tiene exactamente un punto asignado. </div><div class="ttdef"><b>Definition:</b> ORBextractor.h:69</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_o_r_bextractor_html_a2f9c99c509a4d1408013e91f452ef953"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_o_r_bextractor.html#a2f9c99c509a4d1408013e91f452ef953">ORB_SLAM2::ORBextractor::mvLevelSigma2</a></div><div class="ttdeci">std::vector&lt; float &gt; mvLevelSigma2</div><div class="ttdoc">Cuadrado de mvScaleFactor. </div><div class="ttdef"><b>Definition:</b> ORBextractor.h:280</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_o_r_bextractor_html_a2eef0343b411bff8681782115a279e2a"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_o_r_bextractor.html#a2eef0343b411bff8681782115a279e2a">ORB_SLAM2::ORBextractor::mnFeaturesPerLevel</a></div><div class="ttdeci">std::vector&lt; int &gt; mnFeaturesPerLevel</div><div class="ttdoc">Cantidad de puntos singulares deseados por cada nivel de la pirámide. </div><div class="ttdef"><b>Definition:</b> ORBextractor.h:255</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_o_r_bextractor_html_a57f88e0959582dde9ae5bdee1fe3de65"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_o_r_bextractor.html#a57f88e0959582dde9ae5bdee1fe3de65">ORB_SLAM2::ORBextractor::mvImagePyramid</a></div><div class="ttdeci">std::vector&lt; cv::Mat &gt; mvImagePyramid</div><div class="ttdoc">Imágenes de la pirámide. </div><div class="ttdef"><b>Definition:</b> ORBextractor.h:161</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_o_r_bextractor_html_a72fcac0df56c0bfe430475082df56823"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_o_r_bextractor.html#a72fcac0df56c0bfe430475082df56823">ORB_SLAM2::ORBextractor::minThFAST</a></div><div class="ttdeci">int minThFAST</div><div class="ttdoc">Umbral FAST mínimo, para maximizar la cantidad de puntos singulares detectados en una celda de la gri...</div><div class="ttdef"><b>Definition:</b> ORBextractor.h:248</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_o_r_bextractor_html_a8f574b3b1314c5aa645135cb2f3dca3c"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_o_r_bextractor.html#a8f574b3b1314c5aa645135cb2f3dca3c">ORB_SLAM2::ORBextractor::GetScaleSigmaSquares</a></div><div class="ttdeci">std::vector&lt; float &gt; GetScaleSigmaSquares()</div><div class="ttdoc">Devuelve el atributo protegido mvLevelSigma2. </div><div class="ttdef"><b>Definition:</b> ORBextractor.h:146</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_o_r_bextractor_html_a3352294ae4ae250a406140d2ae6f7286"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_o_r_bextractor.html#a3352294ae4ae250a406140d2ae6f7286">ORB_SLAM2::ORBextractor::GetScaleFactor</a></div><div class="ttdeci">float GetScaleFactor()</div><div class="ttdoc">Devuelve el atributo protegido scaleFactor, el factor de escala entre niveles de la pirámide...</div><div class="ttdef"><b>Definition:</b> ORBextractor.h:126</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_o_r_bextractor_html"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_o_r_bextractor.html">ORB_SLAM2::ORBextractor</a></div><div class="ttdoc">Empaqueta todos los métodos de detección de puntos singulares y extracción de descriptores. </div><div class="ttdef"><b>Definition:</b> ORBextractor.h:85</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_o_r_bextractor_html_a1ddabdd67709d7df17000cc2966c47c7"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_o_r_bextractor.html#a1ddabdd67709d7df17000cc2966c47c7">ORB_SLAM2::ORBextractor::GetInverseScaleSigmaSquares</a></div><div class="ttdeci">std::vector&lt; float &gt; GetInverseScaleSigmaSquares()</div><div class="ttdoc">Devuelve el atributo protegido mvInvLevelSigma2. </div><div class="ttdef"><b>Definition:</b> ORBextractor.h:153</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_extractor_node_html_a73ec9b10c8a3f98ed70a117086bae12a"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_extractor_node.html#a73ec9b10c8a3f98ed70a117086bae12a">ORB_SLAM2::ExtractorNode::UR</a></div><div class="ttdeci">cv::Point2i UR</div><div class="ttdef"><b>Definition:</b> ORBextractor.h:56</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_o_r_bextractor_html_a977d96ed602e3a6ff036afc2f2f213fd"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_o_r_bextractor.html#a977d96ed602e3a6ff036afc2f2f213fd">ORB_SLAM2::ORBextractor::GetScaleFactors</a></div><div class="ttdeci">std::vector&lt; float &gt; GetScaleFactors()</div><div class="ttdoc">Devuelve el atributo protegido mvScaleFactor. </div><div class="ttdef"><b>Definition:</b> ORBextractor.h:132</div></div>
<div class="ttc" id="namespace_o_r_b___s_l_a_m2_html"><div class="ttname"><a href="namespace_o_r_b___s_l_a_m2.html">ORB_SLAM2</a></div><div class="ttdoc">This file is part of ORB-SLAM2. </div><div class="ttdef"><b>Definition:</b> Converter.h:31</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_extractor_node_html_a3f3ae5685a8a2b2cd42fbd08e7563c3d"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_extractor_node.html#a3f3ae5685a8a2b2cd42fbd08e7563c3d">ORB_SLAM2::ExtractorNode::UL</a></div><div class="ttdeci">cv::Point2i UL</div><div class="ttdoc">Vértice del rectángulo límite: U: upper, B: bottom, L: left, R: right. </div><div class="ttdef"><b>Definition:</b> ORBextractor.h:56</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_extractor_node_html_a34dda34415caa0e996148e53f8b174ce"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_extractor_node.html#a34dda34415caa0e996148e53f8b174ce">ORB_SLAM2::ExtractorNode::vKeys</a></div><div class="ttdeci">std::vector&lt; cv::KeyPoint &gt; vKeys</div><div class="ttdef"><b>Definition:</b> ORBextractor.h:46</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_extractor_node_html_ab31adc0d00b85307ba98b2ff434c30fc"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_extractor_node.html#ab31adc0d00b85307ba98b2ff434c30fc">ORB_SLAM2::ExtractorNode::BL</a></div><div class="ttdeci">cv::Point2i BL</div><div class="ttdef"><b>Definition:</b> ORBextractor.h:56</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_o_r_bextractor_html_a8997b404b50b563ffd2aea6b8130dd2a"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_o_r_bextractor.html#a8997b404b50b563ffd2aea6b8130dd2a">ORB_SLAM2::ORBextractor::iniThFAST</a></div><div class="ttdeci">int iniThFAST</div><div class="ttdoc">Umbral FAST inicial, usado para la detección de puntos singulares en todas las imágenes. </div><div class="ttdef"><b>Definition:</b> ORBextractor.h:242</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_extractor_node_html_ad560af26a7bab99551eab2e5c08f6535"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_extractor_node.html#ad560af26a7bab99551eab2e5c08f6535">ORB_SLAM2::ExtractorNode::DivideNode</a></div><div class="ttdeci">void DivideNode(ExtractorNode &amp;n1, ExtractorNode &amp;n2, ExtractorNode &amp;n3, ExtractorNode &amp;n4)</div><div class="ttdoc">Divide el nodo en 4: n1, n2, n3 y n4. </div><div class="ttdef"><b>Definition:</b> ORBextractor.cc:513</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_o_r_bextractor_html_aaf5c435dfb3fb2220c3847cd5f536e2f"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_o_r_bextractor.html#aaf5c435dfb3fb2220c3847cd5f536e2f">ORB_SLAM2::ORBextractor::nlevels</a></div><div class="ttdeci">int nlevels</div><div class="ttdoc">Cantidad de niveles de la pirámide. </div><div class="ttdef"><b>Definition:</b> ORBextractor.h:236</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_o_r_bextractor_html_ab74b569810b3d3288c642cc48fd65c4c"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_o_r_bextractor.html#ab74b569810b3d3288c642cc48fd65c4c">ORB_SLAM2::ORBextractor::nfeatures</a></div><div class="ttdeci">int nfeatures</div><div class="ttdoc">Cantidad de puntos singulares deseados en una imagen. </div><div class="ttdef"><b>Definition:</b> ORBextractor.h:224</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_o_r_bextractor_html_a9432037b97eccc06715383d8c34965e9"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_o_r_bextractor.html#a9432037b97eccc06715383d8c34965e9">ORB_SLAM2::ORBextractor::mvScaleFactor</a></div><div class="ttdeci">std::vector&lt; float &gt; mvScaleFactor</div><div class="ttdoc">Factor de escala abosluto de cada nivel de la pirámide, calculado a partir de scaleFactor. </div><div class="ttdef"><b>Definition:</b> ORBextractor.h:269</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_o_r_bextractor_html_a8c75fd715b20fbaf61fce11e03729901"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_o_r_bextractor.html#a8c75fd715b20fbaf61fce11e03729901">ORB_SLAM2::ORBextractor::umax</a></div><div class="ttdeci">std::vector&lt; int &gt; umax</div><div class="ttdoc">Borde del parche circular de diámetro 31. </div><div class="ttdef"><b>Definition:</b> ORBextractor.h:263</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_o_r_bextractor_html_a13b9c3883b3fb19cb756f841cb948908"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_o_r_bextractor.html#a13b9c3883b3fb19cb756f841cb948908">ORB_SLAM2::ORBextractor::scaleFactor</a></div><div class="ttdeci">double scaleFactor</div><div class="ttdoc">Factor de escala entre niveles de la pirámide. </div><div class="ttdef"><b>Definition:</b> ORBextractor.h:230</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_o_r_bextractor_html_a7eeb10aded635b28fc49422348dc72d0"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_o_r_bextractor.html#a7eeb10aded635b28fc49422348dc72d0">ORB_SLAM2::ORBextractor::mvInvScaleFactor</a></div><div class="ttdeci">std::vector&lt; float &gt; mvInvScaleFactor</div><div class="ttdoc">Inversa precalculada de mvScaleFactor. </div><div class="ttdef"><b>Definition:</b> ORBextractor.h:275</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_o_r_bextractor_html_af99de18a5fa2679ff1199f42b9090bf2"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_o_r_bextractor.html#af99de18a5fa2679ff1199f42b9090bf2">ORB_SLAM2::ORBextractor::mvInvLevelSigma2</a></div><div class="ttdeci">std::vector&lt; float &gt; mvInvLevelSigma2</div><div class="ttdoc">Inversa precalculada de mvLevelSigma2. </div><div class="ttdef"><b>Definition:</b> ORBextractor.h:285</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_o_r_bextractor_html_aa56b36e338372ec7cba3945c9194da4a"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_o_r_bextractor.html#aa56b36e338372ec7cba3945c9194da4a">ORB_SLAM2::ORBextractor::GetInverseScaleFactors</a></div><div class="ttdeci">std::vector&lt; float &gt; GetInverseScaleFactors()</div><div class="ttdoc">Devuelve el atributo protegido mvInvScaleFactor. </div><div class="ttdef"><b>Definition:</b> ORBextractor.h:139</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_extractor_node_html_af1920a7d5f8166debdd4a7fe4a15a8e9"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_extractor_node.html#af1920a7d5f8166debdd4a7fe4a15a8e9">ORB_SLAM2::ExtractorNode::ExtractorNode</a></div><div class="ttdeci">ExtractorNode()</div><div class="ttdef"><b>Definition:</b> ORBextractor.h:39</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_o_r_bextractor_html_a3a2e4f9495adf52773613987f09ae9d9"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_o_r_bextractor.html#a3a2e4f9495adf52773613987f09ae9d9">ORB_SLAM2::ORBextractor::pattern</a></div><div class="ttdeci">std::vector&lt; cv::Point &gt; pattern</div><div class="ttdoc">Coordenadas BRIEF. </div><div class="ttdef"><b>Definition:</b> ORBextractor.h:218</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_extractor_node_html_a5301b76ea0e33bb066a46776810d742c"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_extractor_node.html#a5301b76ea0e33bb066a46776810d742c">ORB_SLAM2::ExtractorNode::lit</a></div><div class="ttdeci">std::list&lt; ExtractorNode &gt;::iterator lit</div><div class="ttdef"><b>Definition:</b> ORBextractor.h:63</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_o_r_bextractor_html_abaad86a9c65eed8a2f8af9604b1a53ee"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_o_r_bextractor.html#abaad86a9c65eed8a2f8af9604b1a53ee">ORB_SLAM2::ORBextractor::GetLevels</a></div><div class="ttdeci">int GetLevels()</div><div class="ttdoc">Devuelve el atributo protegido nlevels, la cantidad de niveles en la pirámide, establecida por el con...</div><div class="ttdef"><b>Definition:</b> ORBextractor.h:120</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_extractor_node_html"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_extractor_node.html">ORB_SLAM2::ExtractorNode</a></div><div class="ttdoc">Pendiente de documentación. </div><div class="ttdef"><b>Definition:</b> ORBextractor.h:36</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_o_r_bextractor_html_ab0e5801da8f6dee0261aef5cf19e73b3"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_o_r_bextractor.html#ab0e5801da8f6dee0261aef5cf19e73b3">ORB_SLAM2::ORBextractor::~ORBextractor</a></div><div class="ttdeci">~ORBextractor()</div><div class="ttdef"><b>Definition:</b> ORBextractor.h:97</div></div>
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